---
license: other
license_name: nvidia-open-model-license
license_link: https://www.nvidia.com/en-us/agreements/enterprise-software/nvidia-open-model-license/
base_model: nvidia/Cosmos-Predict2.5-2B
tags:
  - world-model
  - robotics
  - video-prediction
  - action-conditioned
---

# Robot World Model (Cosmos-Predict2.5-2B fine-tune)

Built on NVIDIA Cosmos. EMA weights of a fully fine-tuned
Cosmos-Predict2.5-2B action-conditioned world model, post-trained on the RT-1
robot manipulation dataset by an AIBuildAI agent, autonomously, in a single
29-hour run on 8x A100.

Official IRASim short-trajectory benchmark (RT-1 test, 4,799 clips):
**PSNR 25.56, SSIM 0.845** (highest SSIM reported on the benchmark).

Usage, training code, and the official evaluation harness:
https://github.com/aibuildai/AI-Build-AI/tree/main/tasks/robot-world-model-post-training

These weights are a derivative model of Cosmos-Predict2.5-2B and are governed
by the NVIDIA Open Model License (see NOTICE).